Visual interpenetration tradeoffs in whole-hand virtual grasping

Prachyabrued, Mores; Borst, Christoph W.

doi:10.1109/3dui.2012.6184182

Cited by 24 publications

(17 citation statements)

References 9 publications

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“…Users may reduce such problems using "light touch" [8,9]. Visual cues may help a user understand and control this light touch, as suggested by a prior study of two minimal (baseline) approaches [9]. Specifically, allowing visual interpenetration (Figure I, inner hand, IH) produces lighter touch than a visually-constrained virtual hand (outer hand, OH), but users dislike IH.…”

Section: Introductionmentioning

confidence: 92%

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Visual feedback for virtual grasping

Prachyabrued

Borst

2014

2014 IEEE Symposium on 3D User Interfaces (3DUI)

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See-Through (ST) 2-Hand (2H) Arrow (AR) Vibration (VB) Figure 1: Visual feedback techniques investigated in our studies. ABSTRACTWe investigate visual feedback for virtual grasps, especially cues to improve behavior after real fmgers enter a virtual object. To date, such visual cues have usually been developed in an ad-hoc manner, with minimal or no studies that can guide selection. Existing guidelines are based largely on other interaction types and provide inconsistent and potentially-misleading information when applied to grasping. We compare several different visual feedback types including those most commonly seen for virtual hand interaction and with some novel visual aspects. The visuals were tuned in a pilot study, and our main study evaluated results in terms of objective performance (fmger penetration, release time, and precision) and sUbjective rankings. Performancewise, the most promising techniques all directly reveal penetrating hand configuration in some way. Subjectively, most techniques are better than simple interpenetrating visuals, with color changes being most promising. The results enable selection of the best cues based on the relevant tradeoffs. Results also provide a needed basis for more focused studies of specific visual cues and for better informing studies of multi modal feedback.

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Section: Introductionmentioning

confidence: 92%

Section: Introductionmentioning

confidence: 95%

Visual feedback for virtual grasping

Prachyabrued

Borst

2014

2014 IEEE Symposium on 3D User Interfaces (3DUI)

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“…A simpler approach was proposed in [12], where grasping is simulated without complex physics. Grasping and interpenetration were also the focus of the work in [22].…”

Section: Previous Workmentioning

confidence: 99%

“…In contrast to systems with a restricted workspace, in which the user is sitting [22,10], we target a room-sized environment, and allow the user to walk around the scene while manipulating objects. There are thee main difficulties we discuss below: finger tracking, dynamic constraints between objects and the physics simulation.…”

Section: A Heuristic Approach For Direct Manipulation With Physicsmentioning

confidence: 99%

“…As a result, objects tend to bounce between the fingers instead of being grasped, and the contacts are unstable. Many recent solutions improve physics simulation, most notably to avoid inter-penetration of the hand and other objects in the scene (e.g., [14,22]), while other approaches [25,12] avoid the need for complex -and often expensive -precise simulation using specific algorithms. In contrast, we use a fast but simple physics simulation, combining it with an approach for basic DM such as grasping and releasing, and a finite-state machine to handle sequences of manipulations (e.g., moving from one-hand to two-hand grasping etc.…”

Section: A Heuristic Approach For Direct Manipulation With Physicsmentioning

confidence: 99%

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Evaluation of direct manipulation using finger tracking for complex tasks in an immersive cube

et al. 2014

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Abstract:We present a solution for interaction using finger tracking in a cubic immersive virtual reality system (or immersive cube). Rather than using a traditional wand device, users can manipulate objects with fingers of both hands in a close-to-natural manner for moderately complex, general purpose tasks. Our solution couples finger tracking with a real-time physics engine, combined with a heuristic approach for hand manipulation, which is robust to tracker noise and simulation instabilities. We performed an exploratory study to evaluate our interface, with tasks involving complex manipulations, such as balancing objects while walking in the cube. The user's finger-tracked manipulation was compared to manipulation with a 6-DOF wand (or flystick), as well as with carrying out the same task in the real world. Users were also asked to perform a free task, allowing us to observe their perceived level of presence in the scene. Our results show that our approach provides a feasible interface for immersive cube environments and is perceived by users as being closer to the real experience compared to the wand. However, the wand outperforms direct manipulation in terms of speed and precision. We conclude with a discussion of the results and implications for further research. This project has been submitted to Virtual Reality journal in March 2013. Évaluation de la manipulation directe par finger tracking pour des tâches complexes dans un cube immersif Résumé :Nous présentons une solution permettant d'interagir dans un système de réalité virtuelle de type cube immersif grâce au tracking des doigts. Plutôt que d'utiliser une manette traditionnelle, les utilisateurs peuvent manipuler les objets avec les doigts de façon quasi naturelle et ce pour des tâches générales modérément complexes. Notre solution associe le finger tracking à un moteur physique temps réel, ceci combiné à une approche heuristique de la manipulation manuelle qui est robuste aux signaux bruités des trackers et aux instabilités de simulation. Nous avons effectué une étude exploratoire afin d'évaluer notre interface. Elle comporte des tâches impliquant des manipulations complexes telles que tenir des objets en équilibre en même temps que l'on marche dans le cube. La manipulation avec finger tracking a été comparée à la manipulation avec une manette à 6 degrés de liberté, ainsi qu'à l'exécution de la tâche en condition réelle. Les utilisateurs ont également dû effectuer une tâche avec quasiment aucune instruction afin que nous puissions évaluer leur sensation de présence dans la scène. Nos résultats montrent que notre approche fournit une interface appropriée pour les cubes immersifs tout en étant perçue par les utilisateurs comme plus proche de l'expérience réelle qu'avec la manette. Cependant, la manette dépasse les capacités de la manipulation directe en termes de rapidité et de précision. Nous concluons par une discussion des résultats et des implications pour les prochains travaux de recherche. Ce projet a été soumis au journal Virtual Reality en ma...

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Physics‐based assistive grasping for robust object manipulation in virtual reality

Nasim

Kim

2018

Computer Animation & Virtual

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In this paper, an effective, interactive grasping algorithm is proposed to provide physically realistic interactions in the virtual world. We have provided a solution to lacking dynamic control resulting in penetrations and frictionless contact due to kinematic virtual hand provided by hand-tracking devices, by including a proxy hand in the system. The introduced proxy hand not only provides correct visual feedback but also is used to simulate dynamics between the hand and virtual objects. Our method also provides semiautonomous assistive grasping, coupled with physics-based grasping, which makes the system help the user in achieving a grasp by identifying grasp pose and orienting the object in the hand to be grasped robustly. We have implemented and evaluated our technique with various benchmarks, conducted a user study to compare our method against the state-of-the-art, pinch-based grasping mechanism, and showed that our technique provides physically realistic, stable, and time-efficient real-time interactions.

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Visual interpenetration tradeoffs in whole-hand virtual grasping

Cited by 24 publications

References 9 publications

Visual feedback for virtual grasping

Visual feedback for virtual grasping

Evaluation of direct manipulation using finger tracking for complex tasks in an immersive cube

Physics‐based assistive grasping for robust object manipulation in virtual reality

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